Diff: ping.h

Revision:

0:99ee7c741e9d

Child:

1:72fbcb01291d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ping.h	Sun Jul 27 19:12:34 2014 +0000
@@ -0,0 +1,91 @@
+#ifndef PING_H
+#define PING_H
+
+#include "mbed.h"
+#include "FPointer.h"
+
+/**
+ * Class for interfacing with the Parallax Ping))) Ultrasonic Sensor
+ *
+ * See the Ping)) documentation for more information.
+ * http://www.parallax.com/sites/default/files/downloads/28015-PING-Documentation-v1.6.pdf
+ */
+class Ping {
+    public:
+        /**
+         * @param pin Digital I/O pin used for communicating with the Ping)))
+         */
+        Ping(PinName pin);
+    
+        /**
+         * Starts a one shot reading.
+         *
+         * @return True if the reading was successfuly started, false if not.
+         */
+        bool startReading();
+        
+        /**
+         * Starts a reading.
+         *
+         * @param continuous Continuous readings if true, one-shot if false.
+         * @return True if the reading was successfuly started, false if not.
+         */
+        bool startReading(bool continuous);
+
+        /**
+         * Returns whether the sensor is busy getting a reading
+         *
+         * @return True if busy, false if not.
+         */
+        bool isBusy() { return mBusy; }
+        
+        /**
+         * Returns whether the valid reading is available
+         *
+         * @return True if valid, false if not.
+         */
+        bool isValid() { return mValid; }
+        
+        /**
+         * Returns the raw reading from the sensor.
+         *
+         * @return The time in uS that the sound travelled from the sensor to an object.
+         */
+        uint32_t getRawReading() { return mRawReading; }
+        
+        /**
+         * Attach a callback function that will be called when a valid reading is available.
+         *
+         * @param function Function pointer for callback.
+         */
+        void attach(uint32_t (*function)(uint32_t) = 0) { mCallback.attach(function); }
+        
+        /**
+         * Attach a class method that will be called when a valid reading is available.
+         *
+         * @param item Class object that contains the method to call.
+         * @param method Method to call.
+         */ 
+        template<class T> 
+        void attach(T* item, uint32_t (T::*method)(uint32_t)) { mCallback.attach(item, method); }
+    
+    private:
+        DigitalInOut mSignalIo;
+        InterruptIn mEvent;
+        
+        bool mBusy;
+        bool mValid;
+        bool mContinuous;
+        
+        uint32_t mStartTime;
+        Timer mTimer;
+        
+        uint32_t mRawReading;
+        
+        FPointer mCallback;
+        
+        void start();
+        void stop();
+};
+
+#endif